Attitude control data creating method, and attitude control system applying the method

Abstract

In order to control an attitude of a movable object having a flexible member ( 50 ) through an attitude maneuver, first, based on vibration of the flexible member at the time of the attitude maneuver, for example, a sampling function including no frequency components equal to or higher than a particular frequency is obtained. With the use of the sampling function, a control target value is created as a previously-frequency-shaping-type feedforward control law. Based on the control target value, attitude control data is created. The attitude control data can be used for the attitude maneuver with respect to the movable object.

1. An attitude control data creating method of creating attitude control data for an attitude maneuver with respect to an artificial satellite having a flexible member, comprising:
 a sampling function obtaining step of obtaining, based on vibration of the flexible member at a time of the attitude maneuver, a sampling function excluding frequency components equal to or higher than a particular frequency, the sampling function being a sinc function capable of creating a waveform of an attitude profile in which frequency components are completely separated; 
 a control target value creating step of creating, by means of the sampling function, a control target value as a previously-frequency-shaping-type feedforward control law; and 
 a control data creating step of creating, based on the control target value, the attitude control data. 
 
     
     
       2. An attitude control data creating method as claimed in  claim 1 , wherein the control target value creating step comprises creating the control target value by multiplying the sinc function by a window function so as to suppress the vibration of the flexible member after the attitude maneuver to a maximum extent. 
     
     
       3. An attitude control data creating method as claimed in  claim 1 , wherein the control target value creating step comprises creating, as the control target value, data for acceleration/deceleration by shifting two positive and negative waveforms of the sampling function, which is the sinc function, by one period from each other and combining the waveforms. 
     
     
       4. An attitude control data creating method as claimed in  claim 3 , wherein the control target value creating step comprises creating the control target value by multiplying the sinc function by a window function so as to suppress the vibration of the flexible member after the attitude maneuver to a maximum extent. 
     
     
       5. An attitude control system for controlling an attitude of an artificial satellite having a flexible member subjected to an attitude maneuver, comprising control target value creating means for creating, by means of a sampling function excluding frequency components equal to or higher than a particular frequency, a control target value as a previously-frequency-shaping-type feedforward control law, wherein the sampling function is a sinc function capable of creating a waveform of an attitude profile in which frequency components are completely separated. 
     
     
       6. An attitude control system as claimed in  claim 5 , wherein the control target value creating means obtains, based on vibration of the flexible member at a time of the attitude maneuver, the sampling function. 
     
     
       7. An attitude control system as claimed in  claim 5 , further comprising attitude changing means for changing the attitude of the artificial satellite by means of attitude control data created based on the control target value. 
     
     
       8. An attitude control system as claimed in  claim 7 , further comprising attitude rotating means for rotating the artificial satellite, the attitude rotating means being installed in the artificial satellite. 
     
     
       9. An attitude control system as claimed in  claim 5 , wherein the control target value creating means creates the control target value by multiplying the sinc function by a window function. 
     
     
       10. An attitude control system as claimed in  claim 5 , wherein the control target value creating means creates, as the control target value, data for acceleration/deceleration by shifting two positive and negative waveforms of the sampling function, which is the sinc function, by one period from each other and combining the waveforms. 
     
     
       11. An attitude control system as claimed in  claim 10 , wherein the control target value creating means creates the control target value by multiplying the sinc function by a window function. 
     
     
       12. An attitude control system as claimed in  claim 5 , wherein:
 the artificial satellite comprises an artificial satellite; and 
 the flexible member comprises a flexible moving unit mounted on the artificial satellite. 
 
     
     
       13. An attitude control system according to  claim 12 , wherein the flexible moving unit comprises:
 a reaction wheel for rotating the attitude of the artificial satellite; and 
 a control moment gyro for changing the attitude of the artificial satellite. 
 
     
     
       14. An attitude control system as claimed in  claim 6 , further comprising attitude changing means for changing the attitude of the artificial satellite by means of attitude control data created based on the control target value. 
     
     
       15. An attitude control system as claimed in  claim 14 , further comprising attitude rotating means for rotating the artificial satellite, the attitude rotating means being installed in the artificial satellite.